CN108986941A - A kind of heat-transfer pipe maintenance positioning device structure - Google Patents
A kind of heat-transfer pipe maintenance positioning device structure Download PDFInfo
- Publication number
- CN108986941A CN108986941A CN201710406378.5A CN201710406378A CN108986941A CN 108986941 A CN108986941 A CN 108986941A CN 201710406378 A CN201710406378 A CN 201710406378A CN 108986941 A CN108986941 A CN 108986941A
- Authority
- CN
- China
- Prior art keywords
- heat
- transfer pipe
- claw
- main element
- arm component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 91
- 238000012423 maintenance Methods 0.000 title abstract description 20
- 210000000078 claw Anatomy 0.000 claims abstract description 64
- 239000011148 porous material Substances 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims abstract description 3
- 238000013519 translation Methods 0.000 claims description 18
- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000009659 non-destructive testing Methods 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 60
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 229940002988 pegasys Drugs 0.000 description 1
- 108010092853 peginterferon alfa-2a Proteins 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The present invention relates to steam generator heat-transfer pipe and similar devices non-destructive testing and maintenance technique fields, specifically disclose a kind of heat-transfer pipe maintenance positioning device structure；The device includes main element, arm component and tool ends end component, wherein main element is fixed on arm component, and main element can slide back and forth along arm component straight line；It is equipped with claw A on main element, is equipped with claw B at arm component both ends；The claw A and claw B can be by expansion clamping fixed in heat-transfer pipe of evaporator pore；When the claw A on main element is fixed on heat-transfer pipe of evaporator pore, rotation by main element relative to arm component drives the tool ends end component of the end installation of arm component to turn to designated position.The positioning device can perhaps minor diameter heat-transfer pipe of evaporator checks and significantly improves positioning device in edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator location efficiency to maintenance edge heat-transfer pipe.
Description
Technical field
The invention belongs to steam generator heat-transfer pipe and similar devices non-destructive testing and maintenance technique fields, and in particular to one
Kind heat-transfer pipe overhauls positioning device structure.
Background technique
It according to statistics, there are about 1/4 is made by steam generator accident in the unplanned shutdown number of Foreign Pressurized Water nuclear power station
At, each shutdown can all cause hundreds of millions of economic losses, and generate very big security risk.Steam generator accident
Main cause is heat transfer tracheal rupture, and the burn into of heat-transfer pipe is thinned, consume is inevitable in nuclear power operation, to steam
It is the main means for avoiding unplanned shutdown that generator, which periodically carries out in-service maintenance, assessment including heat-transfer pipe,.Steam hair
The in-service service work of raw device primary side mainly carries out in water chamber, and is in " critical path " of nuclear power maintenance, has tight
The time restriction of lattice.Steam generator water chamber is high-radiation area, and in-service maintenance or leakage processing need remote control special
Automation equipment or robot complete.
Core component of the positioning device as steam generator heat-transfer pipe examination and repair system, its most important function are for tool
End pieces provide a moveable platform on steam generator tube sheet, and passage path plans that positioning device is specific with it
Move mode delivery guiding device is walked and is positioned on heat-transfer pipe tube sheet, and after reaching predetermined position, tool ends end component will be checked
Probe or maintenance tool navigate to target heat-transfer pipe, carry out maintenance task.
The structure of positioning device directly influences the working efficiency of maintenance.The positioning device of mainstream is that one kind can be at present
The device that the enterprising every trade of heat-transfer pipe tube sheet is walked, locator is installed on steam generator tube sheet heat-transfer pipe by manhole, according to pipe
The arrangement mode and tube spacing of plate heat-transfer pipe, locator set movement routine according to planning, guiding device are transported to and is overhauled
Immediately below heat-transfer pipe nozzle.To realize the maintenance task of steam generator.
The Pegasys of US Westinghouse company, since " cross " structure itself limits, occupied space is big, edge or small
Limitation of movement in diameter water chamber,
And the ZR100 type positioning robot of Zetec Inc. of the U.S. is at " cabinet " structure, and its tool ends end is mounted on ZR100 machine
On body, the heat-transfer pipe quantity that same position location checks is few.
The rotation of some other prior art can only generally rotate to fixed angle, can not 360 degree of positioned at arbitrary angles, separately
There is primary positioning in the outer prior art, heat-transfer pipe checks the few problem of number.And when carrying out Inspection, main element and hand
Two groups of claws of the upper arm member are needed while being held on heat-transfer pipe, these all seriously affect inspection efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of heat-transfer pipes to overhaul positioning device structure, can appoint meeting routine maintenance
On the basis of business demand, maintenance edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator are checked, significantly improve positioning dress
It sets in edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator location efficiency.
Technical scheme is as follows: a kind of heat-transfer pipe maintenance positioning device, which includes main element, arm part
Part and tool ends end component, wherein before main element is fixed on arm component, and main element can be along arm component straight line
After slide；It is equipped with claw A on main element, is equipped with claw B at arm component both ends；The claw A and claw B can lead to
Expansion clamping fixed is crossed in heat-transfer pipe of evaporator pore；When the claw A on main element is fixed on heat-transfer pipe of evaporator pore
When, the rotation by main element relative to arm component drives the tool ends end component of the end installation of arm component to turn to
Designated position.
The main element includes claw A, hollow rotating platform and lifting electric cylinders, wherein several claws A is fixed
On claw pallet, claw pallet is fixedly connected by hollow rotating platform with lifting electric cylinders, wherein lifting electric cylinders, which cover, to be gone up and down
On double guide rails and elevating screw, lifting electric cylinders can be driven to move up and down along double guide rails are gone up and down by elevating screw.
The arm component includes sliding electric cylinders, translation lead screw and translates pair guide rails, wherein sliding electric cylinders are covered in phase
Mutually on translation lead screw disposed in parallel and the double guide rails of translation, and translation lead screw and the double guide rail two sides of translation are solid by end plate clamping
It is fixed；The sliding electric cylinders are fixedly connected with main element.
Auxiliary guide rail is additionally provided in the arm component, wherein auxiliary guide rail, which is located at, translates double guide rail opposite sides, and fixed
On the end plate for translating double guide rail two sides.
Claw B is respectively equipped on the end plate of the double guide rail two sides of the translation.
The tool ends end component includes oscillating motor and tool rack, and the tool rack is mounted on arm component side
On end plate, and under oscillating motor drive, rotate tool rack relative to arm component；Or it is respectively mounted in arm component two sides
Tool rack.
It is additionally provided with rotating electric machine in the main element, claw pallet can be driven relative to lifting electricity by rotating electric machine
Cylinder rotation.
The claw pallet is equipped with several claws A, arrangement mode and quantity according to the row of heat-transfer pipe of evaporator
The load weight of column mode and entire maintenance positioning device determines.
The claw pallet is equipped with 4 claw A.
The tool rack end is equipped with guide pipe, for that will check that probe is transported to heat transfer pipe port to be checked；It is described to lead
Xiang Guanke cover using main element center as the center of circle, within arm part length except self structure interference all heat-transfer pipes, one
Multiple heat-transfer pipe inspections are completed in secondary positioning.
Remarkable result of the invention is: a kind of heat-transfer pipe maintenance positioning device of the present invention has the advantage that
(1) when implementing positioning device positioning function, heat-transfer pipe is alternately firmly grasped using two groups of clamping units of main element and arm component, is matched
The linear movement and rotation of main element and arm component are closed, positioning device may be implemented on regularly arranged heat-transfer pipe by planning
Track walking；(2) when implementation tool end pieces positioning operation, the claw of main element is held on heat-transfer pipe, arm component
Claw unclamps, and can move linearly and rotate at any time relative to main element, and service kit end pieces are sent to target hole location；
(3) positioning device overall structure is at line-styled, so that its own structure occupied space is smaller, flexible movements are acted by itself
The influence of volume is small, can significantly improve imitating in edge heat-transfer pipe or the positioning of minor diameter heat-transfer pipe of evaporator for positioning device
Rate；(4) tool ends end component is connected on arm component, guiding device is covered using main element center as the center of circle, hand
It is primary to position except all heat-transfer pipes of self structure interference within arm lengths, multiple heat-transfer pipe inspections are completed, check efficiency greatly
It improves；(5) since arm component has symmetry, tool ends end component may be mounted at the both ends of arm component, when both ends all fill
Upper guiding device, efficiency are double；(6) when heat-transfer pipe upkeep operation, it is only necessary to which main element firmly grasps the tool end on heat-transfer pipe
Part itself angle rotatable cooperates main element and arm component relative linear displacement and rotation, make tool ends end component adjust to
Any one position motion profile in coverage area can find out optimal path by optimizing motion profile algorithm；(7) positioning device
In the electric cylinders structure that can take, hollow rotating platform structure can reduce device overall weight and occupied space to a certain degree.More
It is applicable in the chamber structure of small evaporator or heat exchanger.
Detailed description of the invention
Fig. 1 is that a kind of heat-transfer pipe of the present invention overhauls positioning device rearview；
Fig. 2 is that another heat-transfer pipe of the present invention overhauls positioning device rearview；
Fig. 3 is that a kind of heat-transfer pipe of the present invention overhauls positioning device stereoscopic schematic diagram；
Fig. 4 is that a kind of heat-transfer pipe of the present invention overhauls positioning device use state A；
Fig. 5 is that a kind of heat-transfer pipe of the present invention overhauls positioning device use state B；
Fig. 6 is that a kind of heat-transfer pipe of the present invention overhauls positioning device use state C；
Fig. 7 is that a kind of heat-transfer pipe of the present invention overhauls positioning device use state D；
In figure: 1, main element；2, arm component；3, tool ends end component；4, claw A；5, claw B；6, auxiliary guide rail；7,
Translate lead screw；8, electric cylinders are slided；9, rotating electric machine；10, hollow rotating platform；11, electric cylinders are gone up and down；12, oscillating motor；13, it puts down
Move double guide rails；14, double guide rails are gone up and down；15, elevating screw；16, claw pallet；17, guide pipe；18, tool rack；19, evaporator
Heat-transfer pipe.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Fig. 1~7, a kind of heat-transfer pipe overhauls positioning device, the device include main element 1, arm component 2 and
Tool ends end component 3, wherein main element 1 is fixed on arm component 2, and main element 1 can be made along 2 straight line of arm component
It moves forward and backward, claw A4 is fixed on main element 1, be fixed with claw B5, claw A4 and claw B5 at 2 both ends of arm component
Can be by expansion clamping fixed between heat-transfer pipe of evaporator 19, the claw A4 on main element 1 is fixed on evaporator heat transfer
On between pipe 19, by the rotation of main element 1,2 rotating operation of arm component can be driven, the end of arm component 2 is equipped with
Tool ends end component 3, wherein tool ends end component 3 can be rotated along the axis of 2 end of arm component, and tool ends end component 3 is made to cover work
Has the inswept arc position of end pieces 3；Main element 1 includes claw A4, hollow rotating platform 10, lifting electric cylinders 11, wherein Gu
Several claws A4 being scheduled on claw pallet 16 is fixedly connected by hollow rotating platform 10 with lifting electric cylinders 11, according to heat transfer
The claw A4 of fair amount is arranged in the arrangement mode and load weight of pipe on claw pallet 16, such as on claw pallet 16
Four claw A4 are installed；It covers in the case where going up and down the lifting electric cylinders 11 in double guide rails 14 and elevating screw 15 and being fixed on hollow rotating platform
Side drives hollow rotating platform to move up and down along double guide rails 14 are gone up and down by the rotation of elevating screw 15, and passes through electric rotating
Machine 9 drives claw pallet 16 to rotate relative to lifting electric cylinders 11；Arm component 2 includes sliding electric cylinders 8, translation lead screw 7 and auxiliary
Assistant director of a film or play's rail 6, wherein 8 sets of sliding electric cylinders on translation lead screw 7 and the double guide rails 13 of translation, make to slide electric cylinders 8 in translation lead screw 7
It rotates lower edge and translates 13 side-to-side movement of double guide rails；Translation lead screw 7, double 13 both ends of guide rail of translation are fixedly clamped by end plate, and
It translates and auxiliary guide rail 6 is installed between 13 opposite side two end plates of double guide rails, for adapting to biggish load weight；In arm component 2
It is separately installed with claw B5 on the end plate of both ends, and tool ends end component 3 is installed outside a side end panel, wherein tool ends end component 3 wraps
Oscillating motor 12, guide pipe 17 and tool rack 18 are included, tool rack 18 is mounted in 2 one side end panel of arm component, and is being swung
Under motor 12 drives, rotates tool rack 18 relative to arm component 2, guide pipe 17 is installed in 18 end of tool rack, is used for
It will check that probe is transported to heat transfer pipe port to be checked.
A kind of heat-transfer pipe of the present invention overhauls positioning device, after the target heat-transfer pipe of confirmation Awaiting Overhaul, that is, needs
Running fix device and when being allowed to delivery vehicle end pieces 3 to target hole location, first as shown in Figure 4 in card in main element 1
The claw B5 promptly claw A4 in main element 1 on heat-transfer pipe of evaporator 19, in Fig. 5 in pawl A4 and arm component 2
It unclamps, and drives elevating screw 15 using lifting electric cylinders 11 and go up and down double guide rails 14 and act, to drive on driving part 1
Claw 4A is exited from heat-transfer pipe of evaporator 19；It slides the driving of electric cylinders 8 translation lead screw 7 and translates double guide rails 13, make main element 1
It is moved near corresponding heat-transfer pipe hole location along auxiliary guide rail 6；In claw A4 alignment heat-transfer pipe of evaporator 19 in main element 1
Claw A4 is sent into heat-transfer pipe of evaporator 19 promptly by corresponding hole site, lifting electric cylinders 11, then the claw B5 pine in arm component 2
It opens, lifting motor 14 acts again, and drive the claw B5 in arm component 2 to exit heat-transfer pipe of evaporator 19,；Arm component 2 exists
The hole location that claw B5 thereon is moved to alignment heat-transfer pipe of evaporator 1 under the driving of electric cylinders 8 is slided, lifting motor 11 is by arm
Claw B5 in component 2 firmly grasps heat-transfer pipe of evaporator 1, in this way, tool ends end component 3 is carried to target position；When needing replacing
When target heat-transfer pipe, according to path planning, and so on, alternately above-mentioned motion mode, tool ends end component 3 can replace position and arrive
Up to different target hole locations；In implementation tool 3 positioning operation of end pieces, when the claw A4 of main element 1 is in evaporator heat transfer
After 19 inner hole of pipe clamps, the claw B5 of arm component 2 is unclamped, and the claw B5 of arm component 2 is exited by lifting electric cylinders 11
Heat-transfer pipe of evaporator 1, arm component 2 are rotated by rotating electric machine 9 around 1 center of main element, and rotation angle can be with stepless-adjustment
Section, meanwhile, arm component 2 can will be connected to arm component by both motor patterns with respect to 1 straight-line displacement of main element
Tool ends end component 3 on 2 is accurately moved to below corresponding heat-transfer pipe of evaporator pore.Along with tool ends end component 3 can be with
It is rotated by oscillating motor 12, the path for making tool ends end component 3 reach target hole location becomes diversification, can be with passage path
Planning algorithm selects the mode that walks of optimum efficiency, and tool ends end component 3 can be delivered in the case where 1 position of main element is constant
All hole locations that do not interfered by positioning device body construction within the covering of 2 length range of arm component.And so on, with appropriate
Trajectory planning, positioning device can cover the maintenance task of all evaporators heat-transfer pipe 19, and can greatly improve maintenance
Efficiency.
Claims (10)
1. a kind of heat-transfer pipe overhauls positioning device, it is characterised in that: the device include main element (1), arm component (2) and
Tool ends end component (3), wherein main element (1) is fixed on arm component (2), and main element (1) can be along arm component
(2) straight line slides back and forth；Claw A (4) are equipped on main element (1), are equipped with claw B (5) at arm component (2) both ends；Institute
The claw A (4) and claw B (5) stated can be by expansion clamping fixed in heat-transfer pipe of evaporator (19) pore；Work as main element
(1) when the claw A (4) on is fixed on heat-transfer pipe of evaporator (19) pore, by main element (1) relative to arm component
(2) rotation drives the tool ends end component (3) of the end installation of arm component (2) to turn to designated position.
2. a kind of heat-transfer pipe according to claim 1 overhauls positioning device, it is characterised in that: the main element (1)
Including claw A (4), hollow rotating platform (10) and lifting electric cylinders (11), wherein several claws A (4) is fixed on claw support
On disk (16), claw pallet (16) is fixedly connected by hollow rotating platform (10) with lifting electric cylinders (11), wherein lifting electric cylinders
It covers on going up and down double guide rails (14) and elevating screw (15), lifting electric cylinders (11) can be driven along lifting by elevating screw (15)
Double guide rails (14) move up and down.
3. a kind of heat-transfer pipe according to claim 1 overhauls positioning device, it is characterised in that: the arm component (2)
Including sliding electric cylinders (8), translation lead screw (7) and translate double guide rails (13), wherein sliding electric cylinders (8), which is covered, to be set being parallel to each other
On the double guide rails (13) of translation lead screw (7) and translation set, and translates lead screw (7) and translate double guide rail (13) two sides and pass through end plate
It is fixedly clamped；The sliding electric cylinders (8) are fixedly connected with main element (1).
4. a kind of heat-transfer pipe according to claim 3 overhauls positioning device, it is characterised in that: the arm component (2)
In be additionally provided with auxiliary guide rail (6), wherein auxiliary guide rail (6), which is located at, translates double guide rail (13) opposite sides, and is fixed on the double guide rails of translation
(13) on the end plate of two sides.
5. a kind of heat-transfer pipe according to claim 3 or 4 overhauls positioning device, it is characterised in that: the translation is double to be led
Claw B (5) are respectively equipped on the end plate of rail (13) two sides.
6. a kind of heat-transfer pipe according to claim 1 overhauls positioning device, it is characterised in that: the tool ends end component
It (3) include oscillating motor (12) and tool rack (18), the tool rack (18) is mounted on (2) one side end panel of arm component
On, and in the case where oscillating motor (12) drive, rotate tool rack (18) relative to arm component (2)；Or in arm component (2)
Two sides are respectively mounted tool rack (18).
7. a kind of heat-transfer pipe according to claim 1 or 2 overhauls positioning device, it is characterised in that: the main element
(1) it is additionally provided with rotating electric machine (9) in, claw pallet (16) can be driven relative to lifting electric cylinders (11) rotation by rotating electric machine (9)
Turn.
8. a kind of heat-transfer pipe according to claim 2 overhauls positioning device, it is characterised in that: the claw pallet (16)
Several claws A (4), arrangement mode and quantity are equipped with according to the arrangement mode of heat-transfer pipe of evaporator (19) and entire inspection
The load weight for repairing positioning device determines.
9. a kind of heat-transfer pipe according to claim 1 or 8 overhauls positioning device, it is characterised in that: the claw pallet
(16) 4 claw A (4) are equipped with.
10. a kind of heat-transfer pipe according to claim 6 overhauls positioning device, it is characterised in that: the tool rack (18)
End is equipped with guide pipe (17), for that will check that probe is transported to heat transfer pipe port to be checked；The guide pipe (17) can cover with
Main element (1) center is the center of circle, and all heat-transfer pipes of self structure interference are removed within arm component (2) length, primary to position,
Complete multiple heat-transfer pipe inspections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406378.5A CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406378.5A CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108986941A true CN108986941A (en) | 2018-12-11 |
| CN108986941B CN108986941B (en) | 2024-02-09 |
Family
ID=64501508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710406378.5A Active CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108986941B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112509717A (en) * | 2020-11-27 | 2021-03-16 | 中广核检测技术有限公司 | Source pipe pushing and lifting device for in-service inspection of claw gasket of control rod drive mechanism |
| CN114346955A (en) * | 2021-12-31 | 2022-04-15 | 核动力运行研究所 | A support body formula mounting tool for positioning robot |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10217160A (en) * | 1997-02-05 | 1998-08-18 | Mitsubishi Heavy Ind Ltd | Walk moving device for tube plate |
| JPH1130686A (en) * | 1997-07-10 | 1999-02-02 | Toshiba Corp | Steam generator and cooling system for liquid-metal cooled reactor |
| US20040131462A1 (en) * | 2002-07-22 | 2004-07-08 | Hawkins Phillip J. | Miniature manipulator for servicing the interior of nuclear steam generator tubes |
| CN101667465A (en) * | 2009-11-27 | 2010-03-10 | 哈尔滨工程大学 | Robot for overhauling primary side of steam generator of nuclear power plant |
| US20110000643A1 (en) * | 2009-07-01 | 2011-01-06 | Korea Plant Service & Engineering Co., Ltd. | Apparatus for visually inspecting and removing foreign object in gaps of bundle of heating tubes of upper portion of tube sheet of secondary side of steam generator |
| US20120193065A1 (en) * | 2011-02-02 | 2012-08-02 | Mitsubishi Heavy Industries, Ltd. | Inspection apparatus and inspection method for heat transfer tube |
| KR20130008889A (en) * | 2011-07-13 | 2013-01-23 | 한국원자력연구원 | Finger grip type heat pipe inspection light-weighted robot of steam generator |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN104246902A (en) * | 2012-05-10 | 2014-12-24 | 西屋电气有限责任公司 | Tubesheet walker for heat exchanger inspections |
| CN106641653A (en) * | 2015-10-28 | 2017-05-10 | 国核电站运行服务技术有限公司 | Tube plate installation tool for vapor generator detection |
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN206420585U (en) * | 2016-12-30 | 2017-08-18 | 核动力运行研究所 | One kind is applied to evaporator primary side tube sheet temperature measuring equipment |
| CN207009092U (en) * | 2017-06-02 | 2018-02-13 | 核动力运行研究所 | A kind of heat-transfer pipe overhauls positioning device structure |
-
2017
- 2017-06-02 CN CN201710406378.5A patent/CN108986941B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10217160A (en) * | 1997-02-05 | 1998-08-18 | Mitsubishi Heavy Ind Ltd | Walk moving device for tube plate |
| JPH1130686A (en) * | 1997-07-10 | 1999-02-02 | Toshiba Corp | Steam generator and cooling system for liquid-metal cooled reactor |
| US20040131462A1 (en) * | 2002-07-22 | 2004-07-08 | Hawkins Phillip J. | Miniature manipulator for servicing the interior of nuclear steam generator tubes |
| US20110000643A1 (en) * | 2009-07-01 | 2011-01-06 | Korea Plant Service & Engineering Co., Ltd. | Apparatus for visually inspecting and removing foreign object in gaps of bundle of heating tubes of upper portion of tube sheet of secondary side of steam generator |
| CN101667465A (en) * | 2009-11-27 | 2010-03-10 | 哈尔滨工程大学 | Robot for overhauling primary side of steam generator of nuclear power plant |
| US20120193065A1 (en) * | 2011-02-02 | 2012-08-02 | Mitsubishi Heavy Industries, Ltd. | Inspection apparatus and inspection method for heat transfer tube |
| KR20130008889A (en) * | 2011-07-13 | 2013-01-23 | 한국원자력연구원 | Finger grip type heat pipe inspection light-weighted robot of steam generator |
| CN104246902A (en) * | 2012-05-10 | 2014-12-24 | 西屋电气有限责任公司 | Tubesheet walker for heat exchanger inspections |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN106641653A (en) * | 2015-10-28 | 2017-05-10 | 国核电站运行服务技术有限公司 | Tube plate installation tool for vapor generator detection |
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN206420585U (en) * | 2016-12-30 | 2017-08-18 | 核动力运行研究所 | One kind is applied to evaporator primary side tube sheet temperature measuring equipment |
| CN207009092U (en) * | 2017-06-02 | 2018-02-13 | 核动力运行研究所 | A kind of heat-transfer pipe overhauls positioning device structure |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112509717A (en) * | 2020-11-27 | 2021-03-16 | 中广核检测技术有限公司 | Source pipe pushing and lifting device for in-service inspection of claw gasket of control rod drive mechanism |
| CN112509717B (en) * | 2020-11-27 | 2023-05-02 | 中广核检测技术有限公司 | Source guiding pipe lifting device for in-service inspection of claw gaskets of control rod driving mechanism |
| CN114346955A (en) * | 2021-12-31 | 2022-04-15 | 核动力运行研究所 | A support body formula mounting tool for positioning robot |
| CN114346955B (en) * | 2021-12-31 | 2024-02-09 | 核动力运行研究所 | A hold in palm style mounting tool for positioning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108986941B (en) | 2024-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2913161B1 (en) | Articulated manipulator | |
| CN205506768U (en) | Pipeline device of crawling | |
| CN207009092U (en) | A kind of heat-transfer pipe overhauls positioning device structure | |
| CN101667465B (en) | Robot for overhauling primary side of steam generator of nuclear power plant | |
| EP1523395B1 (en) | Miniature manipulator for servicing the interior of nuclear steam generator tubes | |
| CN108986941A (en) | A kind of heat-transfer pipe maintenance positioning device structure | |
| CN102231410B (en) | Type-setting machine for photovoltaic battery strings | |
| US20150271366A1 (en) | Remote inspection apparatus for heating tube of steam generator | |
| US9010404B2 (en) | Inspection apparatus and inspection method for heat transfer tube | |
| CN106078698A (en) | A kind of multi-freedom parallel connection follower mechanism and driving method thereof | |
| CN206420484U (en) | A kind of steam generator heat-transfer pipe dual probe checks positioner | |
| CN207703651U (en) | A kind of drop fixture that can continuously regulate and control impact position point in face | |
| CN108326824A (en) | Matrix form rail system, association loop-type production line and its production method | |
| CN209525937U (en) | The movable combined ray shielding device of heavy water reactor power station reactor end face operation | |
| CN108267162A (en) | A kind of steam generator heat-transfer pipe dual probe checks positioning device | |
| US8938044B2 (en) | Tubesheet walker for heat exchanger inspections | |
| CN103787070A (en) | Inclined stepping feeding and discharging mechanism | |
| CN209674892U (en) | A kind of high temperature gas cooled reactor heat-transfer pipe check device | |
| CN108665986A (en) | Climbing robot for heat-transfer pipe of evaporator tube sheet | |
| CN209223428U (en) | A kind of steel grating automatic welding production line | |
| CN210156122U (en) | Helium mass spectrometer leak detection suction gun device for heat transfer pipe of high-temperature gas cooled reactor | |
| CN208138742U (en) | A kind of device that short distance control workbench moves back and forth | |
| CN109979621A (en) | A kind of telescopic heat-transfer pipe maintenance positioning device | |
| CN109461508B (en) | Helium mass spectrum leakage detection suction gun device for high-temperature gas cooled reactor heat transfer pipe | |
| CN202272505U (en) | Locating device for first piece of glass of mechanical arm glass stacking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |